A structured methodology for predictive control in robotics, bridging theoretical modeling with practical application is contributed, enabling precise local motion control during complex manipulations and interdepartmental transport tasks.
This thesis investigates advanced modeling and control strategies for robotic manipulators, focusing on the DLR-HIT II robotic hand and the KUKA LBR iiwa. It presents three core contributions that integrate simulation, model-based control, and data-driven methods to improve torque and position control under uncertainti...
The attained MATLAB/SIMULINK results confirm and prove that optimized MPC controller, especially MPCbased DO, offers an efficient and robust control solution for high DOF robotic manipulators.
Abd Elsttar, Moustafa Hassan, M. Essa· FME Transaction· 0 citations
Although peak errors in some joints remain unchanged due to system constraints and coupling effects, the overall dynamic response, stability, and convergence speed are greatly enhanced and highlight the effectiveness of intelligent optimization techniques in improving classical control strategies for complex robotic sy...
Udeh Chukwuma Callistus, Ibeonu Ogochukwu Chinyere, Chukwujekwu John Okafor· International journal of re...· 0 citations
The potential of the proposed Adaptive Dynamic Programming (ADP) framework for improving trajectory-tracking performance in spherical robots under uncertain operating conditions is demonstrated.
Hadi Sazgar, Ali Keymasi‐Khalaji, Aliakbar Ghasemzadeh· Journal of Vibration and Con...· 0 citations
This paper proposes a Robust Subsystem-based Impedance Model Predictive Control (RSI-MPC) framework for the task-space control of flexible manipulators. Controlling flexible-link manipulators poses significant challenges due to their distributed dynamics, structural vibrations, and sensitivity to external disturbances....
S. M. Tahamipour-Z., S. Yaqubi, J. Mattila· Conference on Control Techno...· 0 citations
This paper presents the application of Model Predictive Control (MPC) on a three kinematic 3RRR chains (two revolute joints and one revolute actuator) for a 6-Degree-of-Freedom (6-DOF) spatial manipulator parallel plate mechanism designed similarly to a Stewart platform. The MPC controller is selected for its ability t...
A. Hussenien, B. Hussein, S. Megahed· Journal of Physics, Conferen...· 0 citations
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